112 lines
3.6 KiB
Groff
112 lines
3.6 KiB
Groff
.TH milltask 1 "September 30, 2014" "" "The Enhanced Machine Controller"
|
|
.SH NAME
|
|
\fBmilltask\fR \- Userspace task controller for LinuxCNC
|
|
.SH DESCRIPTION
|
|
|
|
\fBmilltask\fR is an internal process of LinuxCNC. It is generally not
|
|
invoked directly but by an INI file setting: \fB[TASK]TASK=milltask\fR.
|
|
The \fBmilltask\fR process creates the \fBini.*\fR HAL pins listed below
|
|
and owned by the \fBinihal\fR user component. These pins may be modified
|
|
while LinuxCNC is running to alter values that are typically specified
|
|
in an INI file.
|
|
|
|
The \fBinihal\fR pins are sampled in every task cycle, however, commands
|
|
affected by their values typically use the value present at the time
|
|
when the command is processed. Such commands include all codes handled
|
|
by the interpreter (\fBG-code\fR programs and \fBMDI\fR commands) and NML
|
|
\fBjogging\fR commands issued by a GUI (including \fBhalui\fR).
|
|
\fBWheel jogging\fR is implemented in the realtime motion module so
|
|
\fBinihal\fR pin changes (e.g., ini.*.max_velocity,
|
|
ini.*.max_acceleration) may be honored as soon as altered values are
|
|
propagated to the motion module.
|
|
|
|
.SH PINS
|
|
.SS Per-joint pins (N == joint number)
|
|
.TP
|
|
\fBini.\fIN\fB.backlash
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]BACKLASH
|
|
.TP
|
|
\fBini.\fIN\fB.ferror
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]FERROR
|
|
.TP
|
|
\fBini.\fIN\fB.min_ferror
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]MIN_FERROR
|
|
.TP
|
|
\fBini.\fIN\fB.min_limit
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]MIN_LIMIT
|
|
.TP
|
|
\fBini.\fIN\fB.max_limit
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]MAX_LIMIT
|
|
.TP
|
|
\fBini.\fIN\fB.max_velocity
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]MAX_VELOCITY
|
|
.TP
|
|
\fBini.\fIN\fB.max_acceleration
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]MAX_ACCELERATION
|
|
.TP
|
|
\fBini.\fIN\fB.home
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]HOME
|
|
.TP
|
|
\fBini.\fIN\fB.home_offset
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]HOME_OFFSET
|
|
.TP
|
|
\fBini.\fIN\fB.home_offset
|
|
Allows adjustment of \fB[JOINT_\fIN\fB]HOME_SEQUENCE
|
|
|
|
.SS Per-axis pins (L == axis letter)
|
|
.TP
|
|
\fBini.\fIL\fB.min_limit
|
|
Allows adjustment of \fB[AXIS_\fIL\fB]MIN_LIMIT
|
|
.TP
|
|
\fBini.\fIL\fB.max_limit
|
|
Allows adjustment of \fB[AXIS_\fIL\fB]MAX_LIMIT
|
|
.TP
|
|
\fBini.\fIL\fB.max_velocity
|
|
Allows adjustment of \fB[AXIS_\fIL\fB]MAX_VELOCITY
|
|
.TP
|
|
\fBini.\fIL\fB.max_acceleration
|
|
Allows adjustment of \fB[AXIS_\fIL\fB]MAX_ACCELERATION
|
|
|
|
.SS Global pins
|
|
.TP
|
|
\fBini.traj_default_acceleration
|
|
Allows adjustment of \fB[TRAJ]DEFAULT_ACCELERATION
|
|
.TP
|
|
\fBini.traj_default_velocity
|
|
Allows adjustment of \fB[TRAJ]DEFAULT_VELOCITY
|
|
.TP
|
|
\fBini.traj_max_acceleration
|
|
Allows adjustment of \fB[TRAJ]MAX_ACCELERATION
|
|
.TP
|
|
\fBini.traj_max_velocity
|
|
Allows adjustment of \fB[TRAJ]MAX_VELOCITY
|
|
|
|
.SS Global pins (arc_blend trajectory planner)
|
|
.TP
|
|
\fBini.traj_arc_blend_enable
|
|
Allows adjustment of \fB[TRAJ]ARC_BLEND_ENABLE
|
|
.TP
|
|
\fBini.traj_arc_blend_fallback_enable
|
|
Allows adjustment of \fB[TRAJ]ARC_BLEND_FALLBACK_ENABLE
|
|
.TP
|
|
\fBini.traj_arc_blend_gap_cycles
|
|
Allows adjustment of \fB[TRAJ]ARC_OPTIMIZATION_DEPTH
|
|
.TP
|
|
\fBini.traj_arc_blend_optimization_depth
|
|
Allows adjustment of \fB[TRAJ]ARC_BLEND_GAP_CYCLES
|
|
.TP
|
|
\fBini.traj_arc_blend_ramp_freq
|
|
Allows adjustment of \fB[TRAJ]ARC_BLEND_RAMP_FREQ
|
|
|
|
.SH NOTES
|
|
|
|
The \fBinihal\fR pins cannot be linked or set in a HAL file that is
|
|
specified by an INI file \fB[HAL]HALFILE\fR item because they are not created
|
|
until \fBmilltask\fR is started. The \fBinihal\fR pin values can be
|
|
altered by independent halcmd programs specified by
|
|
\fB[APPLICATION]APP\fR items or by GUIs that support a
|
|
\fB[HAL]POSTGUI_HALFILE\fR.
|
|
|
|
The INI file is not automatically updated with values altered by
|
|
\fBinihal\fR pin settings but can be updated using the calibration
|
|
program (emccalib.tcl) when using a \fB[HAL]POSTGUI_HALFILE\fR.
|